systemDiagnostics.hpp

Go to the documentation of this file.

#pragma once
 
#include <cstdlib>
 
#include "Arduino.h"
#include "debugUtils.hpp"
#include "embedded/digitalSettings.hpp"
#include "metro.h"
 
struct R2DLogics {
  Metro readyTimestamp{READY_TIMEOUT_MS};
 
  Metro releaseEbsTimestamp{RELEASE_EBS_TIMEOUT_MS};
 
  Metro engageEbsTimestamp{ENGAGE_EBS_TIMEOUT_MS};
  bool r2d{false};
 
  void enter_ready_state() {
    readyTimestamp.reset();
    engageEbsTimestamp.reset();
    r2d = false;
  }
 
  void enter_driving_state() { releaseEbsTimestamp.reset(); }
 
  bool process_go_signal() {
    // If r2d is not received or received before 5 seconds, return false (?_?)
    if (readyTimestamp.check()) {
      r2d = true;
      return EXIT_SUCCESS;
    }
    // If r2d is received after the timeout duration, return true
    r2d = false;
    return EXIT_FAILURE;
  }
};
 
struct FailureDetection {
  Metro pc_alive_timestamp_{COMPONENT_TIMESTAMP_TIMEOUT};
  Metro steer_alive_timestamp_{COMPONENT_TIMESTAMP_TIMEOUT};
  Metro inversor_alive_timestamp_{COMPONENT_TIMESTAMP_TIMEOUT};
  Metro res_signal_loss_timestamp_{RES_TIMESTAMP_TIMEOUT};
  Metro dc_voltage_drop_timestamp_{DC_VOLTAGE_TIMEOUT};  // timer to check if dc voltage drops below
                                                         // threshold for more than 150ms
  Metro dc_voltage_hold_timestamp_{
      DC_VOLTAGE_HOLD};  // timer for ts on, only after enough voltage for 1 sec
  bool steer_dead_{true};
  bool pc_dead_{true};
  bool inversor_dead_{true};
  bool res_dead_{true};
  bool emergency_signal_{false};
  bool ts_on_{false};
  double radio_quality_{0};
  unsigned dc_voltage_{0};
 
  [[nodiscard]] bool has_any_component_timed_out() {  // no discard makes return value non ignorable
    steer_dead_ = steer_alive_timestamp_.checkWithoutReset();
    pc_dead_ = pc_alive_timestamp_.checkWithoutReset();
    inversor_dead_ = inversor_alive_timestamp_.checkWithoutReset();
    res_dead_ = res_signal_loss_timestamp_.checkWithoutReset();
    return steer_dead_ || pc_dead_ || inversor_dead_ || res_dead_;
  }
};